CN215728801U - Laser radar - Google Patents

Abstract

The utility model relates to a laser radar which comprises a base, a motor, a distance measuring assembly and a wireless charging assembly, wherein the motor is arranged on the base; the stator of the motor is fixed on the base; the distance measuring assembly is fixed on a rotor of the motor; the wireless charging assembly comprises a transmitting coil device and a receiving coil device; the transmitting coil device is arranged on the base; the receiving coil device is arranged on the distance measuring component; the receiving coil device and the transmitting coil device wirelessly charge the distance measuring assembly through electromagnetic induction; the transmitting coil device comprises a modulation chip, and the modulation chip is used for transmitting a modulation signal; the receiving coil device comprises a demodulation chip, the demodulation chip is used for receiving the modulation signal, and the receiving coil device controls the distance measurement mode of the distance measurement assembly according to the modulation signal. Realize through the wireless subassembly that charges on the base that controlling means sends control signal to the range finding subassembly, avoid influencing wireless signal transmission path in the motor quill shaft, so, avoid losing sign indicating number, mistake trigger scheduling problem, improve this bidirectional transmission's stability and accuracy.

Description

Laser radar

Technical Field

The application relates to the technical field of laser radars, in particular to a laser radar.

Background

At present, laser radars are widely used in the fields of home, environmental sanitation, medical treatment, traffic and the like, and along with the improvement of intellectualization, users have higher requirements on the performance and the volume of the laser radars. The household cleaning machine is most widely applied, and the cleaning robot usually scans the surrounding environment by adopting a laser radar so as to realize the functions of obstacle ranging, obstacle avoidance, space sweeping and map building and the like. Laser radar utilizes the range finding module that can rotate and launch laser to accomplish the scanning to the surrounding environment, and wherein motor drive range finding module among the laser radar is rotatory.

Prior art lidar comprises a motor comprising a lower stator and an upper rotor. The distance measurement module is fixed above the rotor and used for scanning obstacles; and the lower part of the stator is provided with a control device, and the control device is used for adjusting the working mode of the distance measuring assembly in real time. The distance measurement module sends the distance measurement data to the control device; the control device sends the control signal to the ranging module, so that the laser radar needs to comprise a device for supporting the ranging module and the base to perform bidirectional transmission. In the prior art, a bidirectional transmission device usually adopts a conductive slip ring, but the service life of the conductive slip ring is limited, and the conductive slip ring adopts metal contact conduction, so that electric sparks are easily generated due to long-term friction of the metal contact position due to rotation, and the error rate of signal transmission is higher.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the error rate of bidirectional information transmission between the ranging module on the upper side of the rotor and the control device on the lower side of the stator in the laser radar is high, the embodiment of the application provides the laser radar.

The laser radar comprises a base, a motor, a ranging assembly and a wireless charging assembly; the stator of the motor is fixed on the base; the distance measuring assembly is fixed on a rotor of the motor; the wireless charging assembly comprises a transmitting coil device and a receiving coil device; the transmitting coil device is arranged on the base; the receiving coil device is arranged on the distance measuring component; the receiving coil device and the transmitting coil device wirelessly charge the distance measuring assembly through electromagnetic induction; the transmitting coil device comprises a modulation chip, and the modulation chip is used for transmitting a modulation signal; the receiving coil device comprises a demodulation chip, the demodulation chip is used for receiving the modulation signal, and the receiving coil device controls the distance measurement mode of the distance measurement assembly according to the modulation signal.

In this embodiment, through set up modulation chip and demodulation chip in wireless charging assembly, realize that controlling means on the base sends control signal to the range finding subassembly, and the steady transmission, and then avoid influencing the wireless signal transmission route that the range finding subassembly will find range data transmission in controlling means, for example, adopt the photoelectric transmission mode to send the range finding data of range finding subassembly to controlling means on the axis route of motor hollow structure, only need set up emitter on the range finding subassembly, set up receiving arrangement on controlling means, should set up on the rotation axis of hollow rotation axis to emitter-receiver, reach the purpose of steady transmission range finding data. Therefore, the two-way information transmission between the ranging assembly and the control device is completed by different transmission modes, the problems of code loss, false triggering and the like are avoided, and the stability and the accuracy of the two-way transmission are improved.

In some embodiments of the present application, the lidar further includes a photoelectric transmission assembly, where the photoelectric transmission assembly includes an infrared light emitting diode and a receiving photodiode; the motor is a hollow structure; the infrared light-emitting diode is arranged on one side of the distance measuring component close to the base and used for emitting optical signals; the receiving photodiode is arranged on one side of the base close to the test component, and is superposed with the connecting line of the infrared light emitting diode on the axis of the hollow structure for receiving the optical signal passing through the hollow structure.

In some embodiments of the present application, the transmitting coil of the transmitting coil device and the receiving coil of the receiving coil device are disposed at the periphery of the motor around the rotation axis of the motor.

In this embodiment, in an implementation manner, the transmitting coil may be disposed between the motor and the base, so as to reduce the lateral volume of the laser radar; in one embodiment, the transmitting coil may be disposed on the periphery of the rotation surface of the motor, so as to reduce the longitudinal volume of the lidar.

In some embodiments of the present application, the distance between the receiving coil and the transmitting coil is 1mm to 2 mm.

In some embodiments of the present application, the modulation chip modulates an electrical signal of the wireless charging device by using FM.

The distance between the receiving coil and the transmitting coil in the embodiment can ensure that the two coils have good coupling efficiency and do not move mutually in an interference manner.

In some embodiments of the present application, the motor further comprises a bearing and a clamping structure; the stator and the rotor are rotationally connected through a bearing; the clamping structure is arranged on the rotor and used for clamping a bearing steel ring which is arranged on the bearing and tightly abutted to the rotor on the rotor.

In this embodiment, through above-mentioned chucking structure will support tight bearing inner steel ring chucking with the rotor in on the rotor lateral wall, restricted bearing and rotor relative movement in along axial and radial direction, can effectively avoid rocking and drive the range finding subassembly and rock from top to bottom when the rotor is rotatory, lead to the laser scanning route not at the coplanar to cause the emergence of the inaccurate condition of range finding subassembly range finding.

In some embodiments of the present application, the rotor includes a rotor body and a T-shaped step shaft, and the rotor body is sleeved outside the T-shaped step shaft; the clamping structure is formed between the inner side wall of the rotor and the outer side wall of the T-shaped step shaft.

In this embodiment, rotor body and T type step axle set up to dismantle the connection, make things convenient for dismouting rotor body and maintenance motor. In addition, the steps of the T-shaped step shaft are increased to drive the rotor body to rotate, so that the stability of the rotation of the rotor body is improved, and the rotor body is not easy to shake up and down.

In some embodiments of the present application, the bearing includes a first bearing and a second bearing spaced apart along the axis of rotation.

In some embodiments of the present application, the rotor further includes a T-shaped hollow nut, and the T-shaped hollow nut is disposed at an end of the T-shaped stepped shaft away from the step and abuts against the bearing steel ring along the axial direction.

In some embodiments of the present application, the clamping structure is a clamping groove formed in an inner side wall of the rotor, and the clamping groove is used for clamping the bearing steel ring.

Drawings

Fig. 1 is a schematic diagram of a lidar according to some embodiments of the present application, wherein the lidar includes a housing 7;

FIG. 2 is a schematic diagram of a belt-type lidar;

FIG. 3 is a schematic diagram of a motor 2 according to some embodiments of the present application;

FIG. 4a is a bottom view of a motor 2 according to some embodiments of the present application;

FIG. 4b is a cross-sectional view taken along section A-A in FIG. 4 a;

fig. 5a is a schematic structural diagram of a wireless charging assembly 4 according to some embodiments of the present application;

fig. 5b is a schematic structural diagram of another wireless charging assembly 4 according to some embodiments of the present application;

fig. 6 is a circuit schematic of a wireless charging assembly 4 according to some embodiments of the present application;

fig. 7 is a schematic diagram of a lidar according to some embodiments of the present application, wherein the lidar does not include a housing 6.

The reference numbers in the drawings have the meanings given below:

1-a base; 11-a base body; 12-a base circuit board;

2-a motor;

21-a stator; 211-a stator body; 212-stator hollow shaft; 213-a convex ring; 214-a protractor;

22 a rotor; 221-a rotor body; 222-rotor hollow shaft; 223-a close-fitting structure; 2231-recessed lands; 2232-boss;

23-a bearing; 231-a first bearing; 232-a second bearing;

24-a clamping structure;

a 25-T shaped hollow nut;

26-an electromagnetic drive assembly; 261-stator drive winding group; 262-rotor permanent magnet; 263-stator circuit board;

3-a distance measuring assembly; 31-ranging fixing base; 32-a distance measuring module; 33-optical switch

4-a wireless charging assembly; 41-a transmitting coil arrangement; 411-a transmitting coil; 412-a transmitting circuit; 42-a receiving coil arrangement; 421-a transmitting coil; 422-a receiving circuit;

5-a photoelectric transmission component; 51-infrared light emitting diodes; 52-a receiving photodiode;

6-a housing assembly; 61-lower cover; 62-upper cover; 63-infrared shield.

Detailed Description

To facilitate an understanding of the present application, the present application will be described more fully below. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Based on aforementioned problem, the present application provides a laser radar, the laser radar that the present application provided, including the wireless subassembly that charges among the laser radar, in order to realize supporting ranging subassembly and base to carry out the device of bidirectional transmission, wherein, the wireless subassembly that charges includes modulation chip and demodulation chip, can be with the signal transmission in the range finding module of controlling means's range finding mode on the base, the range finding subassembly sends range finding data through the radio signal transmission mode to the controlling means on the base on the axis route of motor quill shaft, so, lose the sign indicating number in avoiding bidirectional transmission, the scheduling problem is triggered by mistake, improve this bidirectional transmission's stability and accuracy.

Fig. 1 is a schematic diagram of a lidar according to some embodiments of the present application, as shown in fig. 1, including a base 1, a motor 2, and a ranging assembly 3.

Wherein, base 1 is fixed in the motor 2 downside, and range finding subassembly 3 is fixed in the upside of motor 2. The motor 2 is a brushless motor and is used for driving the distance measuring component 3 to rotate. The ranging assembly 3 is used for emitting laser and rotating under the driving of the motor 2 to scan the surrounding environment and acquire ranging information of obstacles.

In some embodiments of the present application, the lidar further includes a housing assembly 6, as shown in fig. 1, where the housing assembly 6 is disposed at a periphery of the lidar for protecting the lidar.

Wherein the housing assembly 6 includes a lower cover 61, an upper cover 62 and an infrared shield 63. The lower cover 61 is fixed on the lower side of the base 1, the upper cover 62 covers the distance measuring assembly 3, and the infrared shield 63 covers the lower cover 61. The internal cavity formed by the infrared shield 63 and the lower cover 61 accommodates the base 1, the motor 2, the ranging assembly 3 and the upper cover 62.

When the laser emitted by the distance measuring component 3 irradiates the infrared protective cover 63, part of residual light can be reflected on the inner surface of the outer protective cover 63, the upper cover 62 is used for isolating crosstalk between emission and reception, interference of reflected signals reflected from an actual target by reflected light rays from the inner surface of the outer protective cover 63 is avoided, and the distance measuring accuracy of the distance measuring component 3 is improved.

In some embodiments, as shown in fig. 2, the lidar includes a ranging assembly S102, a belt S103, and a brush motor S105. The brush motor S105 drives the distance measuring assembly S102 to rotate by using the belt S103.

Because the rotating axis S101 of the ranging assembly and the rotating axis S104 of the brush motor are not on the same rotating axis, the size of the laser radar is large, and further the laser radar is difficult to be arranged into a sealed structure through the infrared protection cover 63, so that the problems that the laser radar is easy to enter dust and water, the belt S103 is easy to be drawn into garbage to cause faults, and the maintenance is inconvenient are caused.

In addition, since the brush motor S105 and the distance measuring assembly S102 are elastically connected by the belt S103, the rotating surface of the distance measuring assembly S102 is prone to shake up and down, which causes a measurement error in the distance measuring assembly S102.

Above-mentioned laser radar adopts brushless motor 2 and sets up infrared protection cover 63, can solve the laser radar that the brush motor S105 that present figure 2 shows easily advances dirt and intake, belt S103 easily is drawn into rubbish, inconvenient maintenance scheduling problem, in addition, brushless motor 2 is longer than the life who has brush motor S105, extension laser radar' S life.

FIG. 3 is an exploded view of a motor 2 according to some embodiments of the present application; FIG. 4a is a bottom view of a motor 2 according to some embodiments of the present application; fig. 4b is a cross-sectional view taken along the line a-a in fig. 4 a.

In some embodiments of the present application, as shown in fig. 3, the motor 2 includes a stator 21, a rotor 22, and a bearing 23 and a chucking structure 24. The stator 21 and the rotor 22 are rotationally connected by a bearing 23; the clamping structure 24 is arranged on the rotor 22 and used for clamping a bearing 23 on the bearing 23, which is tightly pressed against the rotor 22, on the rotor 22.

In this embodiment, through above-mentioned chucking structure 24 with rotor 22 support tight bearing 23 in the steel ring chucking on rotor 22 lateral wall, can effectively restrict bearing 23 and rotor 22 along axial and radial direction on the relative movement to avoid rotor 22 to rock from top to bottom when rotatory, drive the emergence of the condition of rocking from top to bottom of range finding subassembly 3, make the laser scanning route not in the coplanar, improve the accuracy of range finding subassembly 3. In addition, the motor 2 is convenient to disassemble and assemble by adopting the clamping structure 24, for example, the clamping structure is a clamping groove structure with an opening towards the bearing 23, only the clamping is required to be released, and the clamping groove structure is not required to be disassembled and assembled.

In some embodiments of the present application, the stator 22 includes a stator body 211 and a stator hollow shaft 212; the stator hollow shaft 212 is arranged in the center of one side of the stator body 211 and extends along the direction away from the stator body 211; the side of the stator body 211 facing away from the stator hollow shaft 212 is fixed to the base 1. The rotor 22 includes a rotor body 221 and a rotor hollow shaft 222; the rotor hollow shaft 222 is disposed at the center of one side of the rotor body 221 and extends in a direction away from the rotor body 221; the side of the rotor body 221 away from the rotor hollow shaft 222 is fixed to the distance measuring assembly 3. The outer steel ring of the bearing 23 abuts against the inner side wall of the stator hollow shaft 212, the inner steel ring of the bearing 23 abuts against the outer side wall of the rotor hollow shaft 222, and the bearing 23 is used for rotatably connecting the stator hollow shaft 212 and the rotor hollow shaft 222; the clamping structure 24 is fixed on the rotor 22 and is used for clamping one end, close to the rotor body 221, of the inner steel ring of the bearing 23 on the outer side wall of the rotor hollow shaft 222.

In the present embodiment, wireless signal transmission such as optical transmission is performed on the rotation axis of the motor 2.

In some embodiments of the present application, the rotor body 221 and the rotor hollow shaft 222 of the motor 2 shown in fig. 4a are detachably connected, and as shown in fig. 4b, the rotor hollow shaft 222 is a T-shaped step shaft; the rotor 22 comprises a close-fitting structure 223, and the close-fitting structure 223 is used for connecting the rotor body 221 and the T-shaped step shaft in a close-fitting mode. As shown in fig. 4b, the tight fitting structure 223 includes a recessed platform 2231 disposed on the rotor body 221 and a raised platform 2232 of the T-shaped step shaft. The concave stage 2231 is provided with a central hole, and when the T-shaped stage shaft 222 passes through the central hole, the rotor body 221 is sleeved outside the stage part of the T-shaped stage shaft; the upper surface of recessed ledge 2231 supports the lower surface of boss 2232. The stator hollow shaft 212 is sleeved outside the T-shaped step shaft extension part; a gripping structure 24 is formed between the inner sidewall of the rotor 22 and the outer sidewall of the T-step shaft.

In this embodiment, the rotor body 221 and the T-shaped step shaft are detachably connected, so that the rotor body 221 and the motor 2 can be conveniently disassembled and assembled. In addition, the steps of the T-shaped step shaft are increased to drive the rotor body 221 to rotate, so that the stability of the rotation of the rotor body 221 is improved, and the rotor body 221 is not prone to shaking up and down.

In some embodiments of the present application, the clamping structure 24 is a slot formed on the inner sidewall of the rotor 22, and the slot clamps the steel ring of the bearing 23.

In some embodiments of the present application, the clamping structure 24 is an I-shaped structure protruding from an outer side wall of the rotor hollow shaft 222 and forming an acute angle with the outer wall of the rotor hollow shaft 222, an opening of the I-shaped structure faces the bearing 23, and an upper end of the bearing 23 is clamped in a V-shaped structure gap between the I-shaped structure and the side wall of the rotor hollow shaft 222. The I-shaped structure and the side wall of the rotor hollow shaft 222 form the above-mentioned slot, and the I-shaped structure surrounds the V-shaped structure rotor hollow shaft 222 by one circle, so that the effect of clamping the bearing 23 can be further improved.

In some embodiments of the present application, the clamping structure 24 is an L-shaped structure protruding from an outer side wall of the rotor hollow shaft 222, an opening of the L-shaped structure faces the bearing 23, and an upper end of the bearing 23 is clamped in a gap between the L-shaped structure and a side wall of the rotor hollow shaft 222. The L-shaped structure and the sidewall of the rotor hollow shaft 222 form the above-mentioned slot.

In some embodiments of the present application, as shown in fig. 4b, the gap between the sidewall of the central hole and the sidewall of the T-shaped step shaft forms a slot.

In this embodiment, the stator 21 and the rotor 22 are machined by using a metal part, so that the assembly tolerance is small, the height of a horizontal line of light emitted by the distance measuring module 32 on the rotor 22, which drives the rotary distance measuring assembly 3, is consistent, and the influence of the fluctuating of a scanning line on the distance measuring accuracy is avoided.

In some embodiments of the present application, as shown in fig. 4b, an upper portion of a sidewall of the T-shaped step shaft opposite to the sidewall of the central hole protrudes outward to form a combination of an annular cylinder and an annular cone, a cone head faces the bearing 23, an outer wall of the annular cone and the sidewall of the central hole form a clamping groove of a V-shaped structure gap, and one end of the bearing 23 is clamped in the V-shaped structure gap.

In some embodiments of the present application, as shown in fig. 3 and 4b, the bearing 23 includes a first bearing 231 and a second bearing 232. As shown in fig. 4b, the first bearing 231 is disposed at the extended end of the stator hollow shaft 212, and the clamping structure 24 clamps the inner steel ring of the first bearing 231; second bearing 232 locates stator hollow shaft 212 stiff end, and first bearing 231 and the cooperation of second bearing 232 are used for adjusting rotor hollow shaft 222 at rotatory in-process atress even, reduce rotor body 221's rotation plane and rock and slope from top to bottom, guarantee rotor hollow shaft 222 at the stationarity of rotation in-process to guarantee laser radar's laser ranging subassembly 3 stability when scanning the range finding.

In other embodiments, one bearing 23 is provided, and the axial width of the bearing 23 is set to the axial width of the rotor hollow shaft 222.

In some embodiments of the present application, as shown in fig. 3 and 4b, the motor 2 further includes a T-shaped hollow nut 25, and an end of the T-shaped stepped shaft facing away from the rotor body 221 is screwed with the T-shaped hollow nut 25 and abuts against an end of an inner wall of the bearing 23 to prevent a lower end of the bearing 23 from moving downward relative to the rotor hollow shaft 222, so as to further improve the stability of the rotation plane of the rotor body 221. In addition, compared with the arrangement of the external thread on the rotor hollow shaft 222, the bearing 23 is easier to sleeve the rotor hollow shaft 222 in the present embodiment, and the length of the rotor hollow shaft 222 is reduced, thereby reducing the volume of the motor 2.

In some embodiments of the present application, as shown in fig. 4b, the inner wall of the stator hollow shaft 212 is provided with a convex ring 213; the first bearing 231 and the second bearing 232 are respectively positioned at the upper side and the lower side of the convex ring 213 and are abutted against the end part of the outer steel ring of the bearing 23 so as to arrange the two bearings 23 at intervals; so that the first bearing 231 and the second bearing 232 do not interfere with each other.

In the above embodiment, by providing the clamping structure 24, the convex ring 213, the T-shaped hollow nut 25, the first bearing 231 and the second bearing 232, the problems of difficult assembly and poor rotational stability when the bearing 23 is adopted to perform the rotational connection between the stator 21 and the rotor 22 in the hollow structure in the prior art are solved, and further the scanning plane of the distance measuring module 32 is caused to shake up and down and incline, and the problem of poor stability of information transmission between the distance measuring module 32 and the control device is solved.

In some embodiments of the present application, as shown in fig. 3, the rotor body 221 is a cylindrical housing, and in the assembled motor 2, the rotor body 221 is covered on the stator body 211 to protect the internal structure of the motor 2 and facilitate the arrangement of the charging coil.

In some embodiments of the present application, as shown in fig. 3, the motor 2 includes an electromagnetic driving assembly 26, and the electromagnetic driving assembly 26 is configured to drive the rotor 22 to rotate so as to rotate the distance measuring assembly 3. The electromagnetic drive assembly 26 includes a stator drive winding set 261 and a rotor permanent magnet 262. The stator driving winding set 261 is sleeved on the stator hollow shaft 212, the rotor permanent magnet 262 is in an annular structure and is disposed on the inner wall of the casing of the rotor body 221, for example, glue is dispensed on the inner wall of the casing of the rotor body 221, and the rotor permanent magnet 262 is assembled to the inner wall of the casing of the rotor body 221 and rotates around the center of the rotor body 221 along with the casing. The stator circuit board 263 is provided with the above-described control device. The stator driving winding set 261 drives the rotor permanent magnet 262 to rotate through electromagnetism, so as to drive the rotor body 221 to rotate. The stator circuit board 263 is a circular sheet structure and is fixedly disposed on the stator 21, for example, the stator circuit board 263 is fixed to the stator 21 by dispensing and is sleeved on the stator hollow shaft 212. The stator circuit board 263 is used to electrically connect the stator driving winding group 261 and control the current of the stator driving winding group 261 to control the rotation angle of the rotor permanent magnet 262.

In some embodiments of the present application, as shown in fig. 5a, the lidar described above includes an optical-to-electrical transmission assembly 5, the optical-to-electrical transmission assembly 5 including an infrared light emitting diode 51 and a receiving photodiode 52; the distance measuring component 3 is arranged on the rotor body 221, and the infrared light emitting diode 51 is arranged on one side of the distance measuring component 3 close to the rotor 22 and used for emitting distance measuring information; the receiving photodiode 52 is disposed on one side of the base 1 close to the stator 21, and the connection line with the infrared light emitting diode 51 is coincident with the axis of the rotor hollow shaft 222 for receiving ranging information. The X arrow in fig. 5a shows the direction of signal transmission between the ranging assembly 3 and the base 1.

In this embodiment, the lower side of the distance measuring assembly 3 is communicated with the upper side of the stator 21 through the hollow structure (i.e. the rotor hollow shaft 222) of the motor 2, and in the process of rotating the motor 2, the infrared light emitting diode 51 and the receiving photodiode 52 form a stable communication channel on the rotating axis of the motor 2, so as to ensure the quality of photoelectric transmission.

In some embodiments of the present application, as shown in fig. 1, the distance measuring assembly 3 includes a distance measuring fixing base 31 and a distance measuring module 32, the distance measuring fixing base 31 is fixed above the rotor 22, and the distance measuring module 32 is fixed above the distance measuring fixing base 31.

In some embodiments of the present application, as shown in fig. 1, the base 1 includes a base body 11 and a base circuit board 12; the base body 11 is used to fix the stator 21, and the base circuit board 12 is provided with a reception photodiode 52.

As above, the ranging module 32 and the base circuit board 12 need to transmit in both directions. In some embodiments of the present application, the distance measuring module 32 and the control device may transmit information in a hollow structure of the motor 2 by using a bidirectional photoelectric transmission mode, and the distance measuring module 32 and the control device are both provided with a transmitting device and a receiving device.

In this embodiment, since the 2 pairs of the emitting device and the receiving device cannot be simultaneously disposed on the rotation axis of the motor 2, but the emitting device and the receiving device disposed on the distance measuring module 32 and the control device can rotate relatively, the code missing and the false triggering are easily generated during the photoelectric transmission.

In some embodiments of the present application, the lidar further includes a wireless charging assembly 4, which includes a transmitting coil arrangement 41 and a receiving coil arrangement 42, as shown in fig. 6. The receiving coil device 42 and the transmitting coil device 41 wirelessly charge the distance measuring assembly 3 through electromagnetic induction. The transmission coil device 41 includes a transmission coil 411 and a transmission circuit 412 (the above-described modulation chip); the receiving coil device 42 includes a receiving coil 421 and a receiving circuit 422 (the above-described demodulation chip). The transmitting coil 411 is disposed on the base body 11, and is connected to the transmitting circuit 412, and the transmitting circuit 412 is disposed on the stator circuit board 263, and is configured to transmit a modulation signal based on a wireless charging circuit signal; the receiving coil 421 is disposed on the distance measuring fixing base 31, and is connected to the receiving circuit 422, the receiving circuit 422 is disposed on the distance measuring module 32, and the receiving circuit 422 is used for supplying power to the distance measuring module 32 and receiving the modulated signal. The receiving coil arrangement 42 controls the ranging mode of the ranging assembly 3 in dependence on the modulated signal.

In this embodiment, the transmitting circuit 412 and the receiving circuit 422 are added to the wireless charging component 4, so that the base 1 transmits the control signal to the ranging module 32 through wireless charging, and the problems of poor signal quality or easy damage and short service life of a transmission device during bidirectional signal transmission are solved.

In some embodiments of the present application, the transmit circuitry 412 employs FM modulation of the electrical signal of the transmit coil to transmit the control signal, as shown in fig. 6. Compared with AM amplitude modulation, the FM frequency modulation is adopted, the output voltage is more stable after the receiving circuit 422 is rectified, and the ranging stability of the laser radar is improved.

As shown in fig. 6, the transmitting circuit 412 includes two oscillators with different frequencies to generate two frequencies F1 and F2 with a certain frequency difference, where the frequency ranges of F1 and F2 are 50KHz to 200KHz, and the frequency difference between F1 and F2 is maintained within 10%, so as to prevent the excessive frequency difference from causing the excessive wireless transmission power difference, and to prevent the excessive voltage fluctuation obtained by rectification after the receiving coil 421 receives the signal. The control signal to be transmitted is output to an alternative selector MUX:2:1 from a transmitting end UART TX of the serial interface in TTL/CMOS level, the output of the alternative selector MUX:2:1 is connected with the grid electrode of an N-channel MOSFET, and when S is 0, the output end of the selector is connected with a frequency F1; when S is 1, the output of the selector is connected to the frequency F2.

The output end of the selector is connected with the grid of the N-channel MOSFET, when the output end of the selector outputs a frequency F2, the drain and the source of the MOSFET are switched on and off at a frequency F2, at the moment, the transmitting coil 411 discharges and stores energy at a frequency F2 through the MOSFET, when the output end of the selector outputs a frequency F1, the drain and the source of the MOSFET are switched on and off at a frequency F1, at the moment, the transmitting coil 411 discharges and stores energy at a frequency F1 through the MOSFET, so that the current in the transmitting coil 411 is alternating current, the transmitting coil 411 and the receiving coil 421 mutually induct, the current is generated in the receiving coil 421, and the operation is repeated, and the capacitor and the transmitting coil 411 are in a series resonant circuit formed by the inductor.

The receiving coil 421 rectifies the alternating voltage into a direct voltage by a bridge rectifier circuit, and drives a subsequent distance measuring load. Meanwhile, the alternating current converts the frequency signal into a corresponding voltage signal through the F/V frequency-voltage conversion chip, specifically, when the frequency received by the receiving coil 421 is F1, the F/V chip outputs a voltage V1, and when the frequency received by the receiving coil 421 is F2, the F/V chip outputs a voltage V2. The output end of the F/V chip is connected with the positive end + IN of the voltage comparator, the-IN comparison level of the negative end of the comparator is set to be Vth, wherein V1< Vth < V2, when the received frequency is F1, the + IN voltage V1< Vth, and the comparator outputs low level 0; when the received frequency is F2, the comparator outputs high level 1; the output level is sent to the signal receiving device UART RX, so that the output state of the transmitting terminal UART TX is consistent with the signal received by the receiving terminal UART RX, thereby realizing the transmission of the control signal.

In some embodiments of the present application, as shown in fig. 5, the transmitting coil 411 and the receiving coil 421 are oppositely disposed at the periphery of the motor 2 around the rotation axis of the motor 2. The S arrow in fig. 5a and 5b shows the direction of signal transmission between the ranging assembly 3 and the base 1.

For example, as shown in fig. 5a, the transmitting coil 411 and the receiving coil 421 surround the motor 2 around the rotation axis of the motor 2, the transmitting coil 411 is disposed around the motor 2, and the receiving coil 421 is disposed around the transmitting coil 411, so that the height of the laser radar can be reduced, and the wireless charging effect can be improved.

For example, as shown in fig. 5b, the transmitting coil 411 and the receiving coil 421 are oppositely disposed on the lower side of the motor 2 around the axis of the hollow shaft. Wherein the rotation axis is avoided from passing through the rotor hollow shaft 222, avoiding blocking the passage of the photoelectric transmission; and a fixing structure of the receiving coil 421 extends laterally at a lower side of the motor 2 to laterally align and fix the receiving coil 421. The base 1 is provided with a reception coil 421 parallel to and opposed to the reception coil 421. This can reduce the width of the radial dimension of the lidar.

In some embodiments of the present application, the distance between the receiving coil 421 and the transmitting coil 411 is kept between 1mm and 2 mm. The distance between the receiving coil 421 and the transmitting coil 411 can ensure that the two coils have good coupling efficiency and do not move mutually.

In some embodiments of the present application, as shown in fig. 7, the upper portion of the transmitting coil device 41 on the base 1 is provided with a protractor 214 with alternating neutral positions and teeth, and as shown in the enlarged view of the M region where the protractor 214 is located, the rotary distance measuring module 32 is provided with an optical switch 33. When the optical switch 33 rotates, the light emitted from the optical switch 33 is blocked by the neutral position and the gear flow of the angle divider 214, so that the distance measuring module 32 inputs signals of high level 1 and low level 0, and the MCU of the distance measuring module 32 captures the 0/1 signals, thereby calculating the angle value of the rotation speed of the motor 2. In addition, 1/2, in which the width of one of the teeth is equal to that of the other teeth, may be set as the starting angle 0. Thus, the angle value of the distance measuring module 32 at any time can be calculated.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (10)

1. A laser radar is characterized by comprising a base, a motor, a distance measuring assembly and a wireless charging assembly;

the stator of the motor is fixed on the base;

the distance measuring assembly is fixed on a rotor of the motor;

the wireless charging assembly comprises a transmitting coil device and a receiving coil device;

the transmitting coil device is arranged on the base; the receiving coil device is arranged on the distance measuring assembly;

the receiving coil device and the transmitting coil device wirelessly charge the ranging assembly through electromagnetic induction;

the transmitting coil device comprises a modulation chip, and the modulation chip is used for transmitting a modulation signal;

the receiving coil device comprises a demodulation chip, the demodulation chip is used for receiving the modulation signal, and the receiving coil device controls the ranging mode of the ranging assembly according to the modulation signal.

2. The lidar of claim 1, further comprising an opto-electronic transmission assembly comprising an infrared light emitting diode and a receiving photodiode;

the motor is of a hollow structure;

the infrared light emitting diode is arranged on one side, close to the base, of the distance measuring assembly and used for emitting optical signals;

the receiving photodiode is arranged on the base, is consistent with the axis of the hollow structure with the connecting line of the infrared light emitting diode, and is used for receiving the optical signal passing through the hollow structure.

3. Lidar according to claim 1 or 2, wherein the transmitting coil of the transmitting coil arrangement and the receiving coil of the receiving coil arrangement are arranged relatively to the periphery of the motor around the rotational axis of the motor.

4. The lidar of claim 3, wherein the spacing between the receive coil and the transmit coil is between 1mm and 2 mm.

5. The lidar of claim 1 or 2, wherein the modulation chip modulates the electrical signal of the wireless charging assembly using FM.

6. Lidar according to claim 1 or 2, wherein said motor further comprises: a bearing and a clamping structure;

the stator and the rotor are rotationally connected through the bearing;

the clamping structure is arranged on the rotor and used for clamping a bearing steel ring which is arranged on the bearing and tightly abutted to the rotor on the rotor.

7. The lidar of claim 6, wherein the rotor comprises a rotor body and a hollow T-shaped step shaft, the stator comprises a stator hollow shaft,

the rotor body is sleeved outside the step part of the T-shaped step shaft;

the stator hollow shaft is sleeved outside the T-shaped step shaft extension part;

the clamping structure is formed between the inner side wall of the rotor and the outer side wall of the T-shaped step shaft.

8. The lidar of claim 7, wherein the clamping structure is a clamping groove formed in an inner side wall of the rotor, and the clamping groove is used for clamping the bearing steel ring.

9. The lidar of claim 7, wherein the rotor further comprises a T-shaped hollow nut,

the T-shaped hollow nut is arranged at one end, away from the step, of the T-shaped step shaft and is abutted to the bearing steel ring along the axis direction.

10. The lidar of claim 6, wherein the bearing comprises a first bearing and a second bearing spaced apart along the rotational axis.

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